Real-Time Physics Simulation Forum 2022-05-02T07:58:19+00:00 https://pybullet.org/Bullet/phpBB3/app.php/feed/topic/13429 2022-05-02T07:58:19+00:00 2022-05-02T07:58:19+00:00 https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=44001#p44001 <![CDATA[Compute the transfrom from tool flange to tool center point]]>
I have a tooling that is specified in the URDF in several step.

There is 4 links, with 4 joins:

- Tool Flange
- Tooling base
- Tooling moving part
- Tool center point

Since one of the part can be moving, we have different URDF file that we load depending on the configuration.

I could store all the transform from Tool flange to Tool center point, but I would like to generate it from the URDF.

Is there a way to parse the URDF to find the different positions ? I found getLinkState to find the state of the link and the relative position to its predecessoir, but getJointState only returns the position as a float.

Thanks

Statistics: Posted by thibdx — Mon May 02, 2022 7:58 am

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